CN105253032A - All wheel individual drive electric car traction control method and device - Google Patents
All wheel individual drive electric car traction control method and device Download PDFInfo
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- CN105253032A CN105253032A CN201510557239.3A CN201510557239A CN105253032A CN 105253032 A CN105253032 A CN 105253032A CN 201510557239 A CN201510557239 A CN 201510557239A CN 105253032 A CN105253032 A CN 105253032A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides an all wheel individual drive electric car traction control method and device; the control method comprises the following steps: obtaining a tyre pressure parameter of each wheel, calculating a wheel diameter correction factor of each wheel according to the tyre pressure parameter of each wheel; calculating tyre wheel speed of each wheel according to the wheel diameter correction factor of each wheel; calculating the whole vehicle speed according to the tyre wheel speed of each wheel, if the electric car is under a driving condition, using the minimum value of the tyre wheel speed of each wheel to calculate the whole vehicle speed, if the electric car is in a braking condition, using the maximum value of the tyre wheel speed of each wheel to calculate the whole vehicle speed; using the tyre wheel speed of each wheel and the whole vehicle speed to calculate a slippage rate of each wheel; carrying out traction control at least according to the whole vehicle speed and/or the slippage rate of each wheel. The method can solve the problems that the slippage rate and the whole vehicle speed are inaccurate in calculation, thus realizing traction control of the whole vehicle.
Description
Technical field
The present invention relates to electric automobiles, particularly relate to a kind of full wheel independent drive electric vehicle traction control method and device.
Background technology
Full wheel independent drive electric vehicle refers to that whole wheel all adopts active drive and has the electro-motive vehicle independently driving degree of freedom.Such vehicle has the features such as the propulsive effort control that manoevreability is good, drive mechanism simple, response is rapid, system reliability is high, be easy to realize complexity.
The speed information of wheel driving battery-driven car obtains after ratiometric conversion primarily of the rotating speed of each wheel drive motor.Speed information is the important driving parameters of car load, in wheel slip rate computation process, play important effect.And slippage rate is the important controling parameters that car load propulsive effort controls.
For non-fully wheel driven electric vehicle, have servo-actuated flower wheel to exist, car load speed can be estimated by secondary speed.And entirely take turns the whole wheel of independent drive electric vehicle and be active drive wheel, exist and skid and the situation of locking, when wheel seriously skids, wheel speed and actual vehicle speed lose matching relationship.And existing not accurate enough for the car load speed of a motor vehicle and each calculating of taking turns tractive force, especially cannot obtain slippage rate accurately and control vehicle slip.
Therefore, in order to ensure the safety traffic of a11wheel drive battery-driven car, need to adopt special method of calculating to calculate the car load speed of a motor vehicle exactly, and then calculate each slippage rate of taking turns, for the polling power controlling strategy of car load provides controling parameters accurately, thus ensure the polling power controlling realizing car load safely, the accident that preventing skids causes.
Summary of the invention
The present invention is intended at least to overcome one of above-mentioned defect provides a kind of full wheel independent drive electric vehicle traction control method and device, can calculate the car load speed of a motor vehicle and slippage rate exactly, ensure the polling power controlling realizing car load safely.
For achieving the above object, technical scheme of the present invention is specifically achieved in that
One aspect of the present invention provides a kind of full wheel independent drive electric vehicle traction control method, comprising: the pressure of tire parameter obtaining each wheel, and the wheel footpath coefficient of correction of each wheel of pressure of tire calculation of parameter according to described each wheel; The tire wheel speed of each wheel is calculated according to the wheel footpath coefficient of correction of described each wheel; According to the tire wheel speed calculation car load speed of a motor vehicle of described each wheel, wherein, if under described battery-driven car is in driving operating mode, the described car load speed of a motor vehicle utilizes the minimum value in the tire wheel speed of described each wheel to calculate; If under described battery-driven car is in damped condition, the described car load speed of a motor vehicle utilizes the maxim in the tire wheel speed of described each wheel to calculate; The slippage rate of each wheel is calculated according to the tire wheel speed of described each wheel and the described car load speed of a motor vehicle; At least carry out polling power controlling according to the slippage rate of the described car load speed of a motor vehicle and/or described each wheel.
In addition, the wheel footpath coefficient of correction of described each wheel calculates in the following way:
wherein, Kpn is the wheel footpath coefficient of correction of each wheel, and Pn is pressure of tire parameter is Pn, n>=1, and n is natural number.
In addition, the tire wheel speed of described each wheel calculates in the following way: V
wheel n=V
wheel nvalue of feedback * Kpn; Wherein, V
wheel nfor the tire wheel speed of described each wheel, V
wheel nvalue of feedback is the actual speed of a wheel of each wheel.
In addition, the described car load speed of a motor vehicle calculates in the following way: when described battery-driven car is in and drives under operating mode, V
car load=V
wheel min* K, wherein, V
wheel min=min (V
wheel 1..., V
wheel n); When described battery-driven car is under damped condition, V
car load=V
wheel max* K, wherein, V
wheel max=max (V
wheel 1..., V
wheel n); Wherein, K is the proportionality coefficient that wheel speed is converted to the speed of a motor vehicle.
In addition, the slippage rate of described each wheel calculates in the following way: when described battery-driven car is in and drives under operating mode,
when described battery-driven car is under damped condition,
wherein, σ
nfor the slippage rate of described each wheel.
The present invention provides a kind of full wheel independent drive electric vehicle polling power controlling device on the other hand, comprising: acquisition module, for obtaining the pressure of tire parameter of each wheel; Computing module, for the wheel footpath coefficient of correction of each wheel of pressure of tire calculation of parameter according to described each wheel; The tire wheel speed of each wheel is calculated according to the wheel footpath coefficient of correction of described each wheel; According to the tire wheel speed calculation car load speed of a motor vehicle of described each wheel, wherein, if under described battery-driven car is in driving operating mode, the described car load speed of a motor vehicle utilizes the minimum value in the tire wheel speed of described each wheel to calculate; If under described battery-driven car is in damped condition, the described car load speed of a motor vehicle utilizes the maxim in the tire wheel speed of described each wheel to calculate; The slippage rate of each wheel is calculated according to the tire wheel speed of described each wheel and the described car load speed of a motor vehicle; Control module, at least carrying out polling power controlling according to the slippage rate of the described car load speed of a motor vehicle and/or described each wheel.
In addition, described computing module calculates the wheel footpath coefficient of correction of each wheel in the following way:
wherein, Kpn is the wheel footpath coefficient of correction of each wheel, and Pn is pressure of tire parameter is Pn, n>=1, and n is natural number.
In addition, described computing module calculates the tire wheel speed of each wheel in the following way: V
wheel n=V
wheel nvalue of feedback * Kpn; Wherein, V
wheel nfor the tire wheel speed of described each wheel, V
wheel nvalue of feedback is the actual speed of a wheel of each wheel.
In addition, described computing module calculates the car load speed of a motor vehicle in the following way: when described battery-driven car is in and drives under operating mode, V
car load=V
wheel min* K, wherein, V
wheel min=min (V
wheel 1..., V
wheel n); When described battery-driven car is under damped condition, V
car load=V
wheel max* K, wherein, V
wheel max=max (V
wheel 1..., V
wheel n); Wherein, K is the proportionality coefficient that wheel speed is converted to the speed of a motor vehicle.
In addition, described computing module calculates the slippage rate of each wheel in the following way: when described battery-driven car is in and drives under operating mode,
when described battery-driven car is under damped condition,
wherein, σ
nfor the slippage rate of described each wheel.
As seen from the above technical solution provided by the invention, by full wheel independent drive electric vehicle traction control method provided by the invention and device, under the prerequisite of the wheel speed compensation technique based on tire pressure monitoring, the full wheel car load speed of a motor vehicle of independent drive electric vehicle and the slippage rate of each wheel are calculated, and the control of tractive force is at least carried out according to the slippage rate of the car load speed of a motor vehicle that calculates and/or each wheel, the slippage rate and the car load speed meter that solve each wheel of full wheel independent drive electric vehicle do not calculate accurately true problem, thus ensure the polling power controlling realizing car load safely, the accident that preventing skids causes.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawings can also be obtained according to these accompanying drawings.
The diagram of circuit of the full wheel independent drive electric vehicle traction control method that Fig. 1 provides for the embodiment of the present invention;
The structural representation of the full wheel independent drive electric vehicle polling power controlling device that Fig. 2 provides for the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the present invention are described in detail.
Fig. 1 shows the diagram of circuit of the full wheel independent drive electric vehicle traction control method that the embodiment of the present invention provides, and see Fig. 1, the full wheel independent drive electric vehicle traction control method that the embodiment of the present invention provides, comprising:
S101, obtains the pressure of tire parameter of each wheel, and the wheel footpath coefficient of correction of each wheel of pressure of tire calculation of parameter according to each wheel.
Particularly, due in actual applications, wheel inflation situation there are differences, therefore the wheel footpath of each wheel can be caused different, thus bring impact to the calculating of the car load speed of a motor vehicle and slippage rate, therefore, can utilize and of the present inventionly based on tire pressure monitoring wheel speed compensation technique, the car load speed of a motor vehicle and slippage rate to be calculated accurately.Wherein, tire pressure monitoring wheel speed compensation technique is equivalent to the wheel footpath coefficient of correction of each wheel by the pressure of tire parameter logistic of each wheel, thus footpath is taken turns in the equivalence obtaining each wheel by each pressure of tire.When pressure of tire is higher, think that this wheel footpath is bigger than normal, rotating speed is less than normal; When tire pressure is less, think that this wheel footpath is less than normal, rotating speed is bigger than normal.
Therefore, the wheel footpath coefficient of correction of each wheel can calculate in the following way:
Wherein, Kpn is the wheel footpath coefficient of correction of each wheel, and Pn is pressure of tire parameter is Pn, n >=1, and n is natural number.
S102, calculates the tire wheel speed of each wheel according to the wheel footpath coefficient of correction of each wheel.
Particularly, owing to make use of the wheel footpath coefficient of correction obtaining each wheel based on tire pressure monitoring wheel speed compensation technique of the present invention, therefore, use the wheel footpath coefficient of correction of each wheel can revise the tire wheel speed of each wheel, using revised tire wheel speed as the tire wheel speed of each tire calculating the car load speed of a motor vehicle and slippage rate.
Therefore, the tire wheel speed of each wheel can calculate in the following way: V
wheel n=V
wheel nvalue of feedback * Kpn;
Wherein, V
wheel nfor the tire wheel speed of each wheel, V
wheel nvalue of feedback is the actual speed of a wheel of each wheel.
S103, according to the tire wheel speed calculation car load speed of a motor vehicle of each wheel, wherein, if under battery-driven car is in driving operating mode, the car load speed of a motor vehicle utilizes the minimum value in the tire wheel speed of each wheel to calculate; If under battery-driven car is in damped condition, the car load speed of a motor vehicle utilizes the maxim in the tire wheel speed of each wheel to calculate.
Particularly, mode of operation due to car load can comprise driving operating mode and damped condition two kinds of mode of operations, therefore, need the calculating carrying out the car load speed of a motor vehicle under different working modes, now, under driving operating mode, think that each wheel only exists the possibility of skidding, do not have locking situation to occur, the car load speed of a motor vehicle can utilize the wheel velocity that in each wheel, wheel speed is minimum to calculate; Under damped condition, think that each wheel only exists the possibility of locking, do not have slippery conditions to occur, the car load speed of a motor vehicle can utilize the wheel velocity that in each wheel, wheel speed is maximum to calculate.
Therefore, the car load speed of a motor vehicle can calculate in the following way:
When battery-driven car is in and drives under operating mode, V
car load=V
wheel min* K, wherein, V
wheel min=min (V
wheel 1..., V
wheel n);
When battery-driven car is under damped condition, V
car load=V
wheel max* K, wherein, V
wheel max=max (V
wheel 1..., V
wheel n);
Wherein, K is the proportionality coefficient that wheel speed is converted to the speed of a motor vehicle, can comprise reduction ratio and wheel footpath equal proportion parameter, be not described in detail in this.
S104, calculates the slippage rate of each wheel according to the tire wheel speed of each wheel and the car load speed of a motor vehicle.
Particularly, based on driving operating mode and damped condition two kinds of mode of operations of car load, when calculating the slippage rate of each wheel, also calculate under driving operating mode and damped condition two kinds of mode of operations respectively:
When battery-driven car is in and drives under operating mode,
When battery-driven car is under damped condition,
Wherein, σ
nfor the slippage rate of each wheel.
S105, at least carries out polling power controlling according to the slippage rate of the car load speed of a motor vehicle and/or each wheel.
Particularly, calculated the slippage rate of the car load speed of a motor vehicle and each wheel by said method after, at least can carry out polling power controlling according to the slippage rate of the car load speed of a motor vehicle and/or each wheel, thus ensure the safety traffic of battery-driven car.
As can be seen here, by full wheel independent drive electric vehicle traction control method provided by the invention, under the prerequisite of the wheel speed compensation technique based on tire pressure monitoring, the full wheel car load speed of a motor vehicle of independent drive electric vehicle and the slippage rate of each wheel are calculated, and the control of tractive force is at least carried out according to the slippage rate of the car load speed of a motor vehicle that calculates and/or each wheel, the slippage rate and the car load speed meter that solve each wheel of full wheel independent drive electric vehicle do not calculate accurately true problem, thus ensure the polling power controlling realizing car load safely, the accident that preventing skids causes.Thus, the invention solves the problem that full wheel independent drive electric vehicle slippage rate is difficult to calculate, the problem selected is difficult to, simultaneously by solving the calculated amount perturbed problem that tire outside diameter difference is brought based on the wheel speed compensation technique of tire pressure monitoring by the basic wheel speed simplifying full wheel independent drive electric vehicle slippage rate based on the mode of full wheel independent drive electric vehicle extreme value wheel speed calculation slippage rate.
Fig. 2 shows the structural representation of the full wheel independent drive electric vehicle polling power controlling device that the embodiment of the present invention provides, the full wheel independent drive electric vehicle polling power controlling application of installation that the embodiment of the present invention provides is in above-mentioned full wheel independent drive electric vehicle traction control method, its feature is all identical with above-mentioned full wheel independent drive electric vehicle traction control method, do not repeat them here, only brief description is carried out to the structure of the full wheel independent drive electric vehicle polling power controlling device that the embodiment of the present invention provides, it should be noted that, the structure below illustrated is a kind of structure division of full wheel independent drive electric vehicle polling power controlling device of the present invention, but the present invention is not limited thereto plants structure division, as long as the structure that can realize the full wheel independent drive electric vehicle polling power controlling device of full wheel independent drive electric vehicle traction control method of the present invention divides, protection scope of the present invention all should be belonged to.See Fig. 2, the full wheel independent drive electric vehicle polling power controlling device that the embodiment of the present invention provides, comprising: acquisition module 201, computing module 202 and control module 203; Wherein:
Acquisition module 201, for obtaining the pressure of tire parameter of each wheel;
Computing module 202, for the wheel footpath coefficient of correction of each wheel of pressure of tire calculation of parameter according to each wheel; The tire wheel speed of each wheel is calculated according to the wheel footpath coefficient of correction of each wheel; According to the tire wheel speed calculation car load speed of a motor vehicle of each wheel, wherein, if under battery-driven car is in driving operating mode, the car load speed of a motor vehicle utilizes the minimum value in the tire wheel speed of each wheel to calculate; If under battery-driven car is in damped condition, the car load speed of a motor vehicle utilizes the maxim in the tire wheel speed of each wheel to calculate; The slippage rate of each wheel is calculated according to the tire wheel speed of each wheel and the car load speed of a motor vehicle;
Control module 203, at least carrying out polling power controlling according to the slippage rate of the car load speed of a motor vehicle and/or each wheel.
As an Alternate embodiments of the embodiment of the present invention, computing module 202 calculates the wheel footpath coefficient of correction of each wheel in the following way:
Wherein, Kpn is the wheel footpath coefficient of correction of each wheel, and Pn is pressure of tire parameter is Pn, n >=1, and n is natural number.
As an Alternate embodiments of the embodiment of the present invention, computing module 202 calculates the tire wheel speed of each wheel in the following way:
V
wheel n=V
wheel nvalue of feedback * Kpn;
Wherein, V
wheel nfor the tire wheel speed of each wheel, V
wheel nvalue of feedback is the actual speed of a wheel of each wheel.
As an Alternate embodiments of the embodiment of the present invention, computing module 202 calculates the car load speed of a motor vehicle in the following way:
When battery-driven car is in and drives under operating mode, V
car load=V
wheel min* K, wherein, V
wheel min=min (V
wheel 1..., V
wheel n);
When battery-driven car is under damped condition, V
car load=V
wheel max* K, wherein, V
wheel max=max (V
wheel 1..., V
wheel n);
Wherein, K is the proportionality coefficient that wheel speed is converted to the speed of a motor vehicle.
As an Alternate embodiments of the embodiment of the present invention, computing module 202 calculates the slippage rate of each wheel in the following way:
When battery-driven car is in and drives under operating mode,
When battery-driven car is under damped condition,
Wherein, σ
nfor the slippage rate of each wheel.
As can be seen here, by full wheel independent drive electric vehicle polling power controlling device provided by the invention, under the prerequisite of the wheel speed compensation technique based on tire pressure monitoring, the full wheel car load speed of a motor vehicle of independent drive electric vehicle and the slippage rate of each wheel are calculated, and the control of tractive force is at least carried out according to the slippage rate of the car load speed of a motor vehicle that calculates and/or each wheel, the slippage rate and the car load speed meter that solve each wheel of full wheel independent drive electric vehicle do not calculate accurately true problem, thus ensure the polling power controlling realizing car load safely, the accident that preventing skids causes.
Describe and can be understood in diagram of circuit or in this any process otherwise described or method, represent and comprise one or more for realizing the module of the code of the executable instruction of the step of specific logical function or process, fragment or part, and the scope of the preferred embodiment of the present invention comprises other realization, wherein can not according to order that is shown or that discuss, comprise according to involved function by the mode while of basic or by contrary order, carry out n-back test, this should understand by embodiments of the invention person of ordinary skill in the field.
Those skilled in the art are appreciated that realizing all or part of step that above-described embodiment method carries is that the hardware that can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, this program perform time, step comprising embodiment of the method one or a combination set of.
In the description of this specification sheets, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Above embodiment is only be described the preferred embodiment of the present invention; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that the common engineering staff in this area make technical scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determine.
Claims (10)
1. a full wheel independent drive electric vehicle traction control method, is characterized in that, comprising:
Obtain the pressure of tire parameter of each wheel, and the wheel footpath coefficient of correction of each wheel of pressure of tire calculation of parameter according to described each wheel;
The tire wheel speed of each wheel is calculated according to the wheel footpath coefficient of correction of described each wheel;
According to the tire wheel speed calculation car load speed of a motor vehicle of described each wheel, wherein, if under described battery-driven car is in driving operating mode, the described car load speed of a motor vehicle utilizes the minimum value in the tire wheel speed of described each wheel to calculate; If under described battery-driven car is in damped condition, the described car load speed of a motor vehicle utilizes the maxim in the tire wheel speed of described each wheel to calculate;
The slippage rate of each wheel is calculated according to the tire wheel speed of described each wheel and the described car load speed of a motor vehicle;
At least carry out polling power controlling according to the slippage rate of the described car load speed of a motor vehicle and/or described each wheel.
2. method according to claim 1, is characterized in that, the wheel footpath coefficient of correction of described each wheel calculates in the following way:
Wherein, Kpn is the wheel footpath coefficient of correction of each wheel, and Pn is pressure of tire parameter is Pn, n >=1, and n is natural number.
3. method according to claim 2, is characterized in that, the tire wheel speed of described each wheel calculates in the following way:
V
wheel n=V
wheel nvalue of feedback * Kpn;
Wherein, V
wheel nfor the tire wheel speed of described each wheel, V
wheel nvalue of feedback is the actual speed of a wheel of each wheel.
4. method according to claim 3, is characterized in that, the described car load speed of a motor vehicle calculates in the following way:
When described battery-driven car is in and drives under operating mode, V
car load=V
wheel min* K, wherein, V
wheel min=min (V
wheel 1..., V
wheel n);
When described battery-driven car is under damped condition, V
car load=V
wheel max* K, wherein, V
wheel max=max (V
wheel 1..., V
wheel n);
Wherein, K is the proportionality coefficient that wheel speed is converted to the speed of a motor vehicle.
5. method according to claim 4, is characterized in that, the slippage rate of described each wheel calculates in the following way:
When described battery-driven car is in and drives under operating mode,
When described battery-driven car is under damped condition,
Wherein, σ
nfor the slippage rate of described each wheel.
6. a full wheel independent drive electric vehicle polling power controlling device, is characterized in that, comprising:
Acquisition module, for obtaining the pressure of tire parameter of each wheel;
Computing module, for the wheel footpath coefficient of correction of each wheel of pressure of tire calculation of parameter according to described each wheel; The tire wheel speed of each wheel is calculated according to the wheel footpath coefficient of correction of described each wheel; According to the tire wheel speed calculation car load speed of a motor vehicle of described each wheel, wherein, if under described battery-driven car is in driving operating mode, the described car load speed of a motor vehicle utilizes the minimum value in the tire wheel speed of described each wheel to calculate; If under described battery-driven car is in damped condition, the described car load speed of a motor vehicle utilizes the maxim in the tire wheel speed of described each wheel to calculate; The slippage rate of each wheel is calculated according to the tire wheel speed of described each wheel and the described car load speed of a motor vehicle;
Control module, at least carrying out polling power controlling according to the slippage rate of the described car load speed of a motor vehicle and/or described each wheel.
7. device according to claim 6, is characterized in that, described computing module calculates the wheel footpath coefficient of correction of each wheel in the following way:
Wherein, Kpn is the wheel footpath coefficient of correction of each wheel, and Pn is pressure of tire parameter is Pn, n >=1, and n is natural number.
8. device according to claim 7, is characterized in that, described computing module calculates the tire wheel speed of each wheel in the following way:
V
wheel n=V
wheel nvalue of feedback * Kpn;
Wherein, V
wheel nfor the tire wheel speed of described each wheel, V
wheel nvalue of feedback is the actual speed of a wheel of each wheel.
9. device according to claim 8, is characterized in that, described computing module calculates the car load speed of a motor vehicle in the following way:
When described battery-driven car is in and drives under operating mode, V
car load=V
wheel min* K, wherein, V
wheel min=min (V
wheel 1..., V
wheel n);
When described battery-driven car is under damped condition, V
car load=V
wheel max* K, wherein, V
wheel max=max (V
wheel 1..., V
wheel n);
Wherein, K is the proportionality coefficient that wheel speed is converted to the speed of a motor vehicle.
10. device according to claim 9, is characterized in that, described computing module calculates the slippage rate of each wheel in the following way:
When described battery-driven car is in and drives under operating mode,
When described battery-driven car is under damped condition,
Wherein, σ
nfor the slippage rate of described each wheel.
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| WO2018121595A1 (en) * | 2016-12-29 | 2018-07-05 | 比亚迪股份有限公司 | Acceleration slip regulation control method and device for four-wheel drive electric vehicle |
| CN108248449A (en) * | 2016-12-29 | 2018-07-06 | 比亚迪股份有限公司 | The Anti-slip regulation control method and device of four-drive electric car |
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| CN109050576A (en) * | 2018-08-21 | 2018-12-21 | 中车株洲电力机车有限公司 | A kind of wheel footpath modification method, device, equipment and readable storage medium storing program for executing |
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| CN110103981A (en) * | 2019-05-24 | 2019-08-09 | 河北优控新能源科技有限公司 | A kind of four hub motor pure electric vehicle mass center speed calculation methods |
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| CN112026533A (en) * | 2020-08-21 | 2020-12-04 | 东南大学 | Traction control method for four-wheel independent drive electric automobile under limit working condition |
| CN112172846A (en) * | 2020-10-13 | 2021-01-05 | 中车株洲电力机车有限公司 | Locomotive degraded operation control method and control device and locomotive |
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